JP5496717B2 - Mobile remote control system, environmental information collection system - Google Patents

Description

  The present invention relates to a mobile remote operation system in which bilateral control is performed between an operation system (master system) and a mobile system (slave system).

  In recent years, practical use and research have been advanced on a system in which an operation device and an operation target are mechanically disconnected. In such a system, in particular, a method for controlling the posture and the force state to coincide between the master system and the slave system is called bilateral control. In the bilateral control, the slave system operates based on the operation performed on the master system, and the reaction force received by the slave system from the environment (obstacle, gradient, etc.) is reproduced by an actuator or the like in the operation device.

  Patent Document 1 describes a method of performing bilateral control, in which time-series position information and force contact information are acquired, analyzed and reproduced, and a force reproduction method. However, this method does not use the moving body as a slave system.

  Patent Document 2 describes a supplementary steering system for an electric road vehicle. In this system, a haptic torque configured to be added to the torque assist signal is generated based on a vehicle yaw rate error or a lateral acceleration error.

JP 2009-279699 A JP 2008-087763 A

  When bilateral control is applied to a moving body traveling on the road, normally, control for both straight motion (translational motion) and rotational motion is required. However, in the system described in Patent Document 2, only haptic information (tactile torque) related to steering is considered, and control related to linear motion is not considered.

  The present invention is to solve such problems, and is configured to be a mobile remote control system capable of accurately performing bilateral control on linear motion and rotational motion, and a plurality of such systems. The main purpose is to provide an environmental information collection system.

In order to achieve the above object, the first aspect of the present invention provides:
An operation system having an operation device for human operation;
A mobile system driven based on a human operation performed on the operation system;
With
An actuator for reproducing the reaction force received by the mobile system from the environment is attached to the operating device, and a mobile remote control system in which bilateral control is performed between the operating system and the mobile system Because
The operation device can be operated including both a linear motion instruction and a rotational motion instruction,
In the operation system of the bilateral control and the mobile system, a calculation is performed to separate a linear motion and a rotational motion using a quadratic Quarry matrix,
The second-order Quarry matrix multiplies the linear motion component of the operating system separated by the computation and the linear motion component of the mobile system separated by the computation,
It is a mobile remote control system.

  According to the first aspect of the present invention, in at least a part of the bilateral control, independent calculation is performed for each of the linear motion and the rotational motion, so that the bilateral control for the linear motion and the rotational motion is accurately performed. be able to.

In this first aspect of the invention,
In the bilateral control, the linear motion and the rotational motion may be separated using a secondary Quarry matrix.

  This makes it possible to accurately and easily perform calculations for each of the straight movement and the rotary movement.

In the first aspect of the present invention,
The operation device may include a pair of pedals controlled with a target value of a relative angle as π [rad].

In the first aspect of the present invention,
The operation device may include steering means capable of performing an operation for instructing a rotational motion.

In the first aspect of the present invention,
The mobile system may include a pair of wheels that can be driven independently on the left and right.

The second aspect of the present invention is:
A plurality of mobile remote control systems according to the first aspect of the present invention,
Each mobile remote control system is configured to be able to identify the position of the mobile system that it has,
An information collection server is provided that collects environmental information acquired in each mobile remote control system and the position of the mobile system when the environmental information is acquired, and generates environmental information associated with the position. Characterized by the
Environmental information collection system.

  According to the second aspect of the present invention, environment information collected in an existing mobile remote device system can be provided to an operator of another mobile remote device system. As a result, the person who operates can detect whether there is an obstacle or the like on the path of the mobile system, and can smoothly move the mobile system.

  ADVANTAGE OF THE INVENTION According to this invention, the mobile body remote control system which can perform bilateral control about a linear motion and a rotational motion correctly, and the environmental information collection system comprised by combining two or more can be provided. .

It is a figure which shows the external appearance structure of the main components of the mobile remote control system 1 which concerns on 1st Example of this invention. It is a block diagram which shows the component of the control system which the mobile remote control system 1 which concerns on 1st Example of this invention has. It is the block diagram which expressed the control system of the mobile remote control system 1 which concerns on 1st Example of this invention in the frequency domain. It is a block diagram which shows the function of the right system of the pedal system 30 or the mobile body system 50, and the left system. It is an external view which shows the scene where the mobile body system 50 rides on an artificial grass mat from a plane. It is a figure which shows the parameter in the experiment using the mobile remote control system 1 which concerns on 1st Example. It is a figure which shows the change of the relative angle of the right pedal 32A and the left pedal 32B. It is a figure which shows the change of each position response and force response of the operation system 10 and the mobile body system 50 regarding a rectilinear motion. It is a figure which shows the change of each position response and force response of the operating system 10 and the mobile body system 50 regarding rotational motion. It is a block diagram in the case of performing position control about both a linear motion and a rotational motion. It is a block diagram in the case of performing force control about both a rectilinear motion and a rotational motion. It is a block diagram in the case of performing position control about linear motion and performing force control about rotational motion. It is a block diagram in the case of performing force control for linear motion and performing position control for rotational motion. It is an example of a system configuration | structure of the environmental information collection system 200 which concerns on 2nd Example of this invention. It is a block diagram which shows the component of the control system which the mobile remote control system 200 which concerns on 2nd Example of this invention has.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments for carrying out the present invention will be described with reference to the accompanying drawings.

<< First Example >>
A mobile remote control system according to a first embodiment of the present invention will be described below with reference to the drawings. In the mobile remote control system of this embodiment, bilateral control is performed between the operation system and the mobile system. The mobile system is a linear motion and a rotational motion (these are controlled by two in-wheel motors). (Including combinations of the above).

[Constitution]
FIG. 1 is a diagram showing an external configuration of main components of a mobile remote control system 1 according to a first embodiment of the present invention. As shown in the figure, the mobile remote control system 1 includes an operation system 10 and a mobile system 50. The operation system 10 and the mobile system 50 can communicate with each other through a wired or wireless connection.

  The operation system 10 includes a steering system 20 and a pedal system 30.

  The steering system 20 includes a steering handle 22 that allows an operator to instruct rotational movement, and a steering actuator 24 that can output a reaction force to the steering handle 22.

  The pedal system 30 includes a right pedal 32A and a left pedal 32B, and pedal actuators 34A and 34B that can output a reaction force thereto.

  The steering handle 22 is rotatably attached to the rigid body. The right pedal 32A and the left pedal 32B are attached to the same rigid body as the steering handle 22 so as to be rotatable. The operator can move the moving body system 50 by operating the steering handle 22 and the pedals 32A and 32B as if driving a bicycle across the saddle portion attached to the rigid body.

  The steering actuator 24 and the pedal actuators 34A and 34B output force to the steering handle 22 and the left and right pedals 32A and 32B in order to transmit the reaction force received by the moving body system 50 from the environment to the operator. Further, a position encoder for detecting a rotational position is attached to the steering actuator 24 and the pedal actuators 34A and 34B.

  The mobile body system 50 includes a main body 52, a right main wheel 54 </ b> A, a left main wheel 54 </ b> B, and an auxiliary wheel 58. Each wheel is rotatably attached to the main body 52. In-wheel motors 56A and 56B for rotating these wheels are attached to the main wheels 54A and 54B. The in-wheel motors 56A and 56B are attached to the inside of the main wheels 54A and 54B, and include, for example, a stator connected to the main body 52 and a rotor connected to the main wheels 54A and 54B (the relationship is reversed). May be). Further, a position encoder for detecting a rotational position is attached to the in-wheel motors 56A and 56B.

  FIG. 2 is a block diagram showing components of a control system included in the mobile remote control system 1 according to the first embodiment of the present invention. The mobile remote control system 1 includes a control device 60 as a main body that performs bilateral control. The control device 60 is configured as a microcomputer. The control device 60 may be provided in either the operation system 10 or the mobile body system 10 or may be a separate body.

[Bilateral control]
Hereinafter, bilateral control performed in the mobile remote control system 1 having the above-described configuration will be described mainly using a block diagram expressed in the frequency domain. The conversion from the frequency domain to the time domain is well known to those skilled in the art.

  FIG. 3 is a block diagram representing the control system of the mobile remote control system 1 according to the first embodiment of the present invention in the frequency domain. In the figure, “s” is a Laplace operator. “··” represents the second-order differentiation, and “^” represents the estimated value. Since the pedal system 30 and the moving body system 50 have left and right actuators or in-wheel motors, respectively, and a disturbance observer and a reaction force estimation observer are attached to each of them (it is not necessary to be physically close). Including the actuator or in-wheel motor and each observer, it is described as the right system and the left system.

  Further, in FIG. 2, “θ” represents a rotation angle of the motor, “tra” represents a straight motion, and “rot” represents a rotational motion. “Res” represents a response value (measured value), “ref” represents a reference value (control target value), and “cmd” represents a command value.

  Also, τ represents torque, the superscript “dis” represents a disturbance, and “ext” represents a value obtained by removing friction or the like from the disturbance (an external force directly acting on an actuator or the like).

  “P” represents a pedal system, “S” represents a steering system, and “M” represents a mobile system (mobile system). “C” represents a sum mode described later, and “D” represents a difference mode.

  “Cf” is a force controller, and “Cp (s)” is a position controller, which is expressed by the following equation (1).

“Q ₂ ” indicates a quadratic Quarry matrix expressed by the following equation (2), and “Q ₂ ⁻¹ ” indicates a quadratic Quarry inverse matrix expressed by the following equation (3). Show.

  First, functions of the right system and the left system of the pedal system 30 and the moving body system 50 will be described.

[Observer]
FIG. 4 is a block diagram showing functions of the right system and the left system (in the figure, simply referred to as “system 100”) of the pedal system 30 and the mobile body system 50. The system 100 includes an actuator 102 (here, a concept including an in-wheel motor in the moving body system 50), a disturbance observer 104, and an external force estimation observer 106.

In FIG. 4, θ ^{·· ref} , J _n , K _tn , I ^ref , τ ^dis , τ ^ ^dis , τ ^ ^ext , and θ ^res are the acceleration reference value, the inertia moment nominal value, and the torque constant nominal value, respectively. , Current reference value, disturbance, estimated disturbance, estimated external force, and position response measured by the position encoder.

The current reference value I ^ref input to the actuator 102 is expressed by the following equation (4). In the equation, the first term is a current reference value derived from the acceleration reference value θ ^{·· ref} , and the second term is a current reference value derived from the estimated disturbance τ ^ ^dis estimated by the disturbance observer 104 ( Compensation current). As a result, a robust acceleration control system is constructed.

The disturbance τ ^dis is expressed by the following equation (5). In the equation, τ _c , Dθ ^· , J, and K _t are the Coulomb friction, the viscous friction, the true value of the moment of inertia, and the true value of the torque constant, respectively. The estimated external force τ ^ ^ext is expressed by the following equation (6). This estimated external force τ ^ ^ext indicates the force acting on the actuator by human operation in the operation system 10, and indicates the force acting on the in-wheel motor from the environment in the mobile system 50. is there.

[Main control flow]
Returning to FIG. 3, the main control flow of the mobile remote control system 1 will be described. First, generation of the acceleration reference values θ ^·· _{M, R} ^ref and θ ^·· _{M, L} ^ref input to the mobile system 50 will be described.

Acceleration reference values (target values) θ ^·· _{P, R} ^ref , θ ^·· _{P, L} ^ref and disturbances τ _{P, R} ^dis , τ _{P, L} ^dis are input to the right and left systems of the pedal system 30 ((A) in the figure).

The right system and the left system output estimated external forces τ ^ _{P, R} ^ext , τ ^ _{P, L} ^ext and position responses θ _{P, R} ^res , θ _{P, L} ^res by the function described in FIG. (B)).

The position responses θ _{P, R} ^res , θ _{P, L} ^res are obtained by the second-order Quarry matrix Q ₂ , θ _{P, tra} ^res that is the linear motion component of the position response and θ _{P, tra} ^res that is the rotational motion component of the position response _. It is separated into _rot ^res ((C) in the figure). The following equation (7) is a general equation indicating that a certain component is separated into a linear motion component and a rotational motion component by the quadratic Quarry matrix Q ₂ in this embodiment.

The linear motion component θ _{P, tra} ^res of the position response in the pedal system 30 is multiplied by the quadratic Quarry matrix Q ₂ together with the linear motion component θ _{M, tra} ^res of the position response in the mobile system 50 to _obtain the sum component θ _C, It is separated into _tra ^res and difference components θ _{D and tra} ^res ((D) in the figure). The following equation (8) is a general equation showing how a certain component is separated into a sum component and a difference component by the quadratic Quarry matrix Q ₂ in this embodiment.

  The sum component and the difference component are parameters in the sum mode space and the difference mode space. Since the sum mode space and the difference mode space have already been disclosed in Japanese Patent Laid-Open No. 2009-279699, etc., detailed description thereof will be omitted.

The component θ _{D, tra} ^res of the difference in linear motion indicates a delay in displacement of the moving body system 50 with respect to the operation system 10. Therefore, it is fed back to the side that generates the input signal to the system ((E) in the figure).

That is, after passing through the position controller Cp (s), it becomes the component θ ^·· _{D, tra} ^res of the difference of the acceleration reference value relating to the linear motion. This is multiplied by the quadratic Quarry inverse matrix Q ₂ ⁻¹ together with the difference component θ ^·· _{D, tra} ^res of the acceleration reference value relating to the linear motion, so that the acceleration reference value relating to the linear motion input to the mobile system 50 is obtained. θ ^·· _{M, tra} ^ref is obtained ((F) in the figure). Then, this is multiplied by the quadratic Quarry inverse matrix Q ₂ ⁻¹ together with the acceleration reference value θ ^·· _{M, rot} ^ref for the rotational motion, whereby the acceleration input to the right system and the left system of the mobile system 50 respectively. Reference values θ ^·· _{M, R} ^ref and θ ^·· _{M, L} ^ref are obtained ((G) in the figure).

  As a result, the in-wheel motor of the mobile system 50 is accelerated or decelerated so as to eliminate the delay in displacement of the mobile system 50 with respect to the operation system 10. In other words, when the displacement delay is large, the output of the in-wheel motor of the mobile system 50 is controlled to be large.

In addition, the acceleration reference value input to the mobile system 50 reflects the sum component θ ^·· _{D, tra} ^res of the acceleration reference value related to the linear motion. This is because the rectilinear motion component τ ^ _{C, tra} ^ext of the estimated external force passes through the force controller C _f and is taken into account to establish the law of action / reaction.

  As a result, when the force received from the environment by the in-wheel motor of the mobile system 50 is weaker than the force with which the person pedals, the output of the in-wheel motor of the mobile system 50 is controlled to be large.

As described above, the acceleration reference values θ ^·· _{M, R} ^ref and θ ^·· _{M, L} ^ref input to the mobile system 50 take into account two elements: position tracking and action / reaction establishment. These appropriately reflect the operation of the mobile system 50 by human operation.

Next, generation of the acceleration reference values θ ^·· _{P, R} ^ref and θ ^·· _{P, L} ^ref input to the pedal system 30 will be described.

Acceleration reference values θ ^·· _{M, R} ^ref , θ ^·· _{M, L} ^ref and disturbances τ _{M, R} ^dis , τ _{M, L} ^dis are input to the right system and the left system of the mobile system 50 ( (H) in the figure).

Right systems and the left systems of the mobile system 50, the functions described with reference to FIG 3, the estimated external force ^{_{τ ^ M, R ext, τ}} ^ M, L ext and position response theta _{M, R} ^res, the theta _{M, L} ^res Output ((I) in the figure).

Estimated external force tau ^ _M of mobile systems ^{_{50, R ext, τ ^ M}} , L ext is the secondary Quarry matrix Q _2, linear motion component of the estimated external force ^{_{τ ^ M, R ext, τ}} ^ M, L ext Τ ^ _{M, tra} ^ext and τ ^ _{M, rot} ^ext which is the rotational motion component of the estimated external force ((J) in the figure).

Linear motion component tau ^ _M estimated external force in a mobile system _{50, tra} ^ext is linear motion component tau ^ _P of the estimated external force in the pedal system 30 _is multiplied by the secondary Quarry matrix Q ₂ together with the _tra ^ext, sum component tau It is separated into ^ _{C, tra} ^ext and difference component τ ^ _{D, tra} ^ext ((K) in the figure).

The sum component τ ^ _{C, tra} ^ext of the estimated external force related to the linear motion indicates the degree of balance between the action and reaction of the pedal system 30 and the moving body system 50. Therefore, it is fed back to the side that generates the input signal to the system ((L) in the figure).

In other words, the sum component θ ^·· _{C, tra} ^res of the acceleration reference value related to the straight-ahead movement is obtained via the force controller C _f . This is multiplied by a second-order Quarry inverse matrix Q ₂ ⁻¹ together with a component θ ^·· _{D, tra} ^res of a difference in acceleration reference value related to the straight motion, whereby the acceleration reference value θ related to the linear motion input to the pedal system 30 ^..P _{, tra} ^ref ((M) in the figure) Then, this is multiplied by the quadratic Quarry inverse matrix Q ₂ ⁻¹ together with the acceleration reference value θ ^·· _{P, rot} ^ref related to the rotational motion, whereby the acceleration reference input to the right system and the left system of the pedal system 30 respectively. The values θ ^·· _{P, R} ^ref and θ ^·· _{P, L} ^ref are obtained ((N) in the figure).

  As a result, the actuator of the pedal system 30 is driven so as to balance the action / reaction of the pedal system 30 and the moving body system 50. That is, control is performed so that the output of the actuator increases when the external force received by the mobile system 50 from the environment is large.

  In the present embodiment, the rotational motion is controlled so that the relative angle between the right pedal 32A and the left pedal 32B is π [rad], and therefore, what is exclusively operated by the steering handle 22 is the in-wheel motor. It is reflected as the output difference. Also in such control, the output of the mobile body system 50 and the reaction force to be output to the steering handle 22 are determined by taking into account the two elements of the position tracking and the establishment of the action / reaction as in the case of the straight movement.

Here, in this embodiment, θ _{P, rot} ^com is determined so that the relative angle between the right pedal 32A and the left pedal 32B is π [rad]. Therefore, the rotational motion component θ _{P, rot} ^res of the position response in the pedal system 30 and the rotational motion component τ ^ _{P, rot} ^ext of the estimated external force are not fed back.

However, the application target of the present invention is not limited to such an aspect, and a difference in force applied to the right pedal 32A and the left pedal 32B may be reflected in the rotational motion. By doing so, for example, by applying a large force to the right pedal 32A, it is possible to perform an operation such as turning the mobile body system 50 to the left. In this case, for example, the rotational response component θ _{P, rot} ^res of the position response may be added to θ _{S, rot} ^res θ. Further, the steering handle 22 may be omitted, and the rotational motion may be realized only by the difference in force applied to the right pedal 32A and the left pedal 32B.

[effect]
According to the mobile remote control system 1 according to the first embodiment of the present invention described above, the steering handle 22, the right pedal 32A, and the left pedal 32B can be operated including both a straight motion instruction and a rotational motion instruction. Thus, since at least a part of the bilateral control performs independent calculation for each of the linear motion and the rotational motion, the bilateral control for the linear motion and the rotational motion can be accurately performed.

  In addition, since the linear motion and the rotational motion are separated using the quadratic Quarry matrix, the calculation for each can be performed accurately and easily.

[Experiment]
The inventor according to the present application conducts experiments for demonstrating the usefulness of the present invention. The results are shown below.

  In this experiment, when the operator operated the operation system 10 of the mobile remote control system 1 and the mobile system 50 got on the artificial turf mat from the plane, changes in position and force in each system were measured. FIG. 5 is an external view showing a scene in which the moving body system 50 rides on the artificial grass mat from the plane.

FIG. 6 is a diagram showing parameters in an experiment using the mobile remote control system 1 according to the first example. In the figure, parameters not described above will be described. “S _t ” indicates the control period, “g _dis ” indicates the cutoff frequency of the disturbance observer, and “g _reac ” indicates the cutoff frequency of the reaction force estimation observer.

The period from 0 [s] to 10 [s] in the experiment was a period for constructing the controllable crank mechanism without the operator touching the system. The command value θ _{P, rot} ^com to the pedal system 30 during this period is expressed by the following equation (9).

After 10 [s] has elapsed from the start of the experiment, the command value θ _{P, rot} ^com is fixed at π [rad] so that it can be operated easily like a bicycle pedal. Therefore, the relative angles of the right pedal 32A and the left pedal 32B, which originally have the same rotation angle, gradually open and are relatively locked when reaching π [rad]. FIG. 7 is a diagram illustrating a change in the relative angle between the right pedal 32A and the left pedal 32B.

  FIG. 8 shows changes in position response and force response (actually estimated values) of the operation system 10 and the mobile system 50 with respect to the straight movement. As shown in the figure, the mobile system 50 is retreated from the artificial turf at a timing of about 16 [s] from the start of the experiment. It can be seen that the signs of the external force received by the moving body system 50 from the environment (artificial grass mat) and the reaction force output to the pedal system 30 at the same timing are reversed. It can be seen that with respect to the straight movement, the mobile remote control system 1 according to the present embodiment is sufficiently accurately following both the position and the force.

  Moreover, FIG. 9 has shown the change of each position response and force response (actually it is an estimated value) of the operation system 10 and the mobile body system 50 regarding rotational motion. As shown in the figure, the external force (in this case, rotational force) received by the mobile body system 50 from the environment and the reaction force output to the steering system 10 at the timing when the mobile body system 50 retreats after receiving a reaction from the artificial turf. It can be seen that the sign is inverted. Regarding the rotational motion, it can be seen that the mobile remote control system 1 of the present embodiment is sufficiently accurate in both position and force.

[Other examples of control]
In bilateral control in which linear motion and rotational motion are separated using a quadratic Quarry matrix, a combination of position control and force control can be arbitrarily selected for linear motion and rotational motion.

  FIG. 10 is a block diagram in the case where position control is performed for both linear motion and rotational motion, and FIG. 11 is a block diagram in the case where force control is performed for both linear motion and rotational motion. Fig. 13 is a block diagram in the case where position control is performed for linear motion and force control is performed for rotational motion. Fig. 13 is a block diagram in the case where force control is performed for linear motion and position control is performed for rotational motion. is there. In FIGS. 10 to 13, the sum and difference mode spaces are not shown.

  As described above, when bilateral control is performed by separating the linear motion and the rotational motion using the quadratic Quarry matrix, a non-interfering control system can be constructed for each of the linear motion and the rotational motion.

<< Second Example >>
Hereinafter, an environment information collecting system according to a second embodiment of the present invention will be described with reference to the drawings. The environmental information collection system of the present embodiment includes a plurality of mobile remote control systems of the first embodiment, and information collection servers collect environmental information (such as reaction force received from the environment) acquired in each mobile remote control system. And the mapping information is generated in the information collection server.

  FIG. 14 is a system configuration example of an environment information collection system 200 according to the second embodiment of the present invention. As shown in the figure, the environment information collection system 200 includes a plurality of mobile remote operation systems 1 # 1 to 1 # n and an information management server 300.

  Each mobile remote control system performs bilateral control between the operation system 10 and the mobile system 50 as described in the first embodiment. Bilateral control is executed by the control device 60. The control device 60 may be provided in either the operation system 10 or the mobile body system 10 or may be a separate body.

  Furthermore, in the second embodiment, each mobile remote control system includes a road surface state presentation terminal 70.

  In addition, a GPS (Global Positioning System) receiver 59 is mounted on the mobile system 50 according to the second embodiment. Instead of GPS, a device related to GLONASS or Galileo may be used.

  The GPS receiver 59 receives a radio wave transmitted from a GPS satellite by a GPS antenna, demodulates it, and extracts a navigation message included in the radio wave. The navigation message includes information on the satellite orbit, the correction value of the satellite clock, the correction coefficient of the ionosphere, the health message indicating the operation state of the satellite itself, and the like.

  Then, the GPS receiver 59 analyzes navigation messages from a plurality of GPS satellites, and specifies the position of the mobile system 50 (referring to latitude, longitude, and altitude). Specifically, the position (Xs, Ys, Zs) of each GPS satellite in the world coordinate system (for example, WGS84) is calculated from the satellite orbit information included in the navigation message, and the arrival time of radio waves (arrival time-transmission time) ) Is multiplied by the speed of light to calculate a pseudorange between each GPS satellite and the mobile system 50, and using the pseudorange and position calculated for a plurality of GPS satellites, the principle of triangulation is used. Calculate the position. The GPS calculation may be performed on the control device 60 side.

  FIG. 15 is a block diagram showing components of a control system included in the mobile remote control system 200 according to the second embodiment of the present invention. The control device 60 has an observer function as described in the first embodiment, and calculates an estimated disturbance and an estimated external force based on values input from the position encoders of the operation system 10 and the moving body system 50. doing. Then, bilateral control is performed by outputting various reference values to the actuator of the operation system 10 and the in-wheel motor of the moving body system 50 based on these calculated values.

  The road surface state presentation terminal 70 is, for example, a liquid crystal display device, and the display screen is controlled by the control device 60.

  The control device 60 has a function for managing mapping information in addition to the above observer function and bilateral control function.

  First, the information collecting / providing function of the mapping information management function will be described. This function uses the estimated disturbance or estimated external force calculated by the observer function together with the position of the mobile system 50 specified by the GPS receiver 59 at that time (or along with the travel route connecting the positions), and the information management server 300. Send to.

  Transmission / reception of information between each mobile remote device system and the information management server 300 is performed via a wireless communication network such as a mobile phone or PHS, the Internet, or the like. Not limited to this, each mobile remote device system and the information management server 300 may be connected by a communication line. In addition, the operation system 10, the control device 60, the road surface state presentation terminal 70, and the information management server 300 of each mobile remote device system may be installed in the same facility. In this case, only the mobile system 50 moves outside the facility, and information transmission / reception between the operation system 10 and the mobile system 50 is performed by wireless communication.

  The information management server 300 integrates information received from each mobile remote device system, and generates estimated disturbance and estimated external force information (hereinafter referred to as mapping information) mapped on a predetermined map.

  Next, the road surface state presentation function of the mapping information management function will be described. The control device 60 includes a storage device 62 in which map data is stored. Then, mapping information is acquired from the information management server 300 at a desired timing, and the road surface state is presented to the person who operates the mobile remote device system.

  In the presentation of the road surface state, for example, the position of an obstacle that causes a disturbance or an external force is displayed by an icon or the like on a simulated image generated from map data.

  Thus, a person operating the mobile remote device system can detect whether an obstacle or the like is present on the path of the mobile system 50 and can move the mobile system 50 smoothly. .

  According to the environmental information collection system 200 of the present embodiment described above, information on the position of an obstacle that causes disturbance or external force collected in another system is provided to the operator of the mobile remote device system. Can do. As a result, the person who operates can detect whether there is an obstacle or the like on the path of the mobile system 50 and can move the mobile system 50 smoothly.

  The best mode for carrying out the present invention has been described above with reference to the embodiments. However, the present invention is not limited to these embodiments, and various modifications can be made without departing from the scope of the present invention. And substitutions can be added.

DESCRIPTION OF SYMBOLS 1 Mobile body remote operation system 10 Operation system 20 Steering system 30 Pedal system 22 Steering handle 24 Steering actuator 32A Right pedal 32B Left pedal 34A, 34B Pedal actuator 50 Mobile body system 52 Main body part 54A Right main wheel 54B Left main wheel 56A 56B In-wheel motor 58 Auxiliary wheel 59 GPS receiver 60 Control device 62 Storage device 70 Road surface state presentation terminal 100 System 102 Actuator 104 Disturbance observer 106 External force estimation observer 200 Environmental information collection system 300 Information management server

Claims (5)

An operation system having an operation device for human operation;
A mobile system driven based on a human operation performed on the operation system;
With
An actuator for reproducing the reaction force received by the mobile system from the environment is attached to the operating device, and a mobile remote control system in which bilateral control is performed between the operating system and the mobile system Because
The operation device can be operated including both a linear motion instruction and a rotational motion instruction,
In the operation system of the bilateral control and the mobile system, a calculation is performed to separate a linear motion and a rotational motion using a quadratic Quarry matrix,
The second-order Quarry matrix multiplies the linear motion component of the operating system separated by the computation and the linear motion component of the mobile system separated by the computation ,
Mobile remote control system. The operation device includes a pair of pedals controlled with a target value of a relative angle as π [rad].
The mobile remote control system according to claim 1 . The operation device includes a steering means capable of instructing a rotational movement,
The mobile remote control system according to claim 1 or 2 . The mobile system includes a pair of wheels that can be driven independently on the left and right sides.
The mobile remote control system according to any one of claims 1 to 3 . A plurality of mobile remote control systems according to any one of claims 1 to 4 ,
Each mobile remote control system is configured to be able to identify the position of the mobile system that it has,
An information collection server is provided that collects environmental information acquired in each mobile remote control system and the position of the mobile system when the environmental information is acquired, and generates environmental information associated with the position. Characterized by the
Environmental information collection system.

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